Distributed general-purpose robot controller

A general-purpose robot controller is described. The controller is based on a distributed multiprocessor architecture that provides real-time response. The high sampling rate of up to 6 kHz for each controlled joint allows successful applications of tasks, such as operation in very rigid environments. The software supports real-time operation, network communication, interrupt handling and code migration among CPUs that are part of the controller. The interface between four main hierarchical levels in the controller is defined, and its implementation on the distributed multitasking system is described. The controller is used in a testbed that consists of a 7-degree-of-freedom manipulator equipped with joint position and torque sensors as well as a force/torque sensor mounted on the manipulator's tip